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Copter: bug fix for descent during loiter_turns

This commit is contained in:
Randy Mackay 2013-07-15 20:44:18 +09:00
parent 3b982bc908
commit e34702f524
1 changed files with 1 additions and 0 deletions
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ArduCopter/navigation.pde
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@ -287,6 +287,7 @@ update_circle(float dt)
// calculate target position // calculate target position
circle_target.x = circle_center.x + cir_radius * cosf(-circle_angle); circle_target.x = circle_center.x + cir_radius * cosf(-circle_angle);
circle_target.y = circle_center.y - cir_radius * sinf(-circle_angle); circle_target.y = circle_center.y - cir_radius * sinf(-circle_angle);
circle_target.z = wp_nav.get_desired_alt();
// re-use loiter position controller // re-use loiter position controller
wp_nav.set_loiter_target(circle_target); wp_nav.set_loiter_target(circle_target);